add ref properly

acxz · Nov 23, 2019 · 822bb7c · 822bb7c
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diff --git a/README.md b/README.md
@@ -15,6 +15,12 @@ Octave/Matlab.
 `examples/` directory some example code is provided that uses `mppi.m`. To run
 an example code just run `example_main.m` from Octave or Matlab.
 
+## References
+
+```
+G. Williams, P. Drews, B. Goldfain, J. M. Rehg and E. A. Theodorou, "Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving," in IEEE Transactions on Robotics, vol. 34, no. 6, pp. 1603-1622, Dec. 2018.
+```
+
 ## Citation
 To cite `acxz/mppi` in publications use:
 

diff --git a/mppi.m b/mppi.m
@@ -1,8 +1,4 @@
 % Author: Akash Patel (apatel435)
-% Reference: https://arxiv.org/pdf/1707.02342.pdf
-% Information Theoretic Model Predictive Control:Theory and Applications to
-%   Autonomous Driving
-% Algorithm 1: Sampling Based MPC
 
 function [x_hist, u_hist, sample_x_hist, sample_u_hist, rep_traj_cost_hist, ...
   time_hist] = mppi(func_is_task_complete, func_control_update_converged, ...